QueryPipeline: add shape casting, point projection, and intersection queries.

src/geometry/mod.rs

@@ -86,6 +86,15 @@ pub(crate) use self::narrow_phase::ContactManifoldIndex;
 pub(crate) use cdl::partitioning::SimdQuadTree;
 pub use cdl::shape::*;
 
+pub(crate) fn default_persistent_query_dispatcher(
+) -> std::sync::Arc<dyn cdl::query::PersistentQueryDispatcher<ContactManifoldData, ContactData>> {
+    std::sync::Arc::new(cdl::query::DefaultQueryDispatcher)
+}
+
+pub(crate) fn default_query_dispatcher() -> std::sync::Arc<dyn cdl::query::QueryDispatcher> {
+    std::sync::Arc::new(cdl::query::DefaultQueryDispatcher)
+}
+
 mod broad_phase_multi_sap;
 mod collider;
 mod collider_set;